JAXsim 0.1

What's Changed

• First JAXsim version by @diegoferigo in #1
• Add semi-implicit Euler integrator by @diegoferigo in #9
• Step the simulator over horizon by @diegoferigo in #10
• Implement CRBA with jax.lax.scan by @diegoferigo in #14
• Implement Jacobian with jax.lax.scan by @diegoferigo in #16
• Implement Forward Kinematics with jax.lax.scan by @diegoferigo in #15
• Make JIT compilation of Jacobian algorithm independent from body index by @diegoferigo in #17
• Unify lin/ang serialization of 6D quantities by @diegoferigo in #18
• Remove references of Plucker coordinates by @diegoferigo in #19
• Support coulomb and viscous joint friction by @diegoferigo in #21
• Implement joint position limits by @diegoferigo in #22
• Add continuous integration workflow by @diegoferigo in #24
• Switch parser to ami-iit/rod by @diegoferigo in #25
• Deploy to PyPI by @diegoferigo in #23
• Minor improvements by @diegoferigo in #26
• Update isort and black style of the repository by @diegoferigo in #28
• Documentation enhancements by @diegoferigo in #29
• Improve model description support by @diegoferigo in #30
• Add new JaxSim.insert_model_from_description by @diegoferigo in #31
• Fix detection of joint connecting world to base for fixed-base models by @diegoferigo in #32
• Use uint for simulation time by @diegoferigo in #33
• Rewrite soft-contacts algorithm by @diegoferigo in #34
• ABA and RNEA with jax.lax.scan, Python 3.11, fixed bugs in other representations by @diegoferigo in #38
• Allow keeping the base pose when a model is reduced by @diegoferigo in #42
• Allow to insert models from rod objects by @diegoferigo in #47
• Support Python ≥ 3.10 by @diegoferigo in #46
• Introduce resources to streamline the combination of jax transformation with OOP pattern by @diegoferigo in #44
• Apply new OOP pattern compatible with jax transformations by @diegoferigo in #48
• Minor updates including small API changes by @diegoferigo in #53
• First steps towards automatic differentiation of RBDAs by @diegoferigo in #54
• Make all fields of simulator.JaxSim static excluding SimulatorData by @diegoferigo in #55
• Added Filippo Ferretti as maintainer by @DanielePucci in #56
• Update README.md by @diegoferigo in #57
• Fix CI/CD by @diegoferigo in #58
• New high-level APIs with OOP wrappers by @diegoferigo in #59
• Enhance Forward Dynamics computation by adding motor dynamics by @flferretti in #62
• Add JAXsim Notebook for PD Controller with Gravity Compensation by @flferretti in #63
• Add JAXsim Notebook for Parallel Simulation by @flferretti in #65
• Lint and enhance type hinting compliance (PEP 484) by @flferretti in #64
• Fix arguments order in ode.dx_dt by @flferretti in #66
• Add readthedocs based documentation for the JAXsim API by @flferretti in #61
• Prepare for first release by @diegoferigo in #67

New Contributors

• @diegoferigo made their first contribution in #1
• @DanielePucci made their first contribution in #56
• @flferretti made their first contribution in #62

Full Changelog: https://github.com/ami-iit/jaxsim/commits/v0.1